| 摘要 | 第1-9页 |
| ABSTRACT | 第9-14页 |
| Chapter 1 Introduction | 第14-18页 |
| ·Historical background | 第14-15页 |
| ·Current situation | 第15-17页 |
| ·Mathematical model for ship motion | 第15页 |
| ·Ship maneuvering with tug assistance | 第15-17页 |
| ·Research content of this thesis | 第17-18页 |
| Chapter 2 Mathematical model of ship motion | 第18-41页 |
| ·Coordinate system and equations of the ships plane of motion | 第18-22页 |
| ·Coordinate system | 第18-19页 |
| ·Establishment of the equation | 第19-21页 |
| ·Establishment of equations of maneuverability | 第21页 |
| ·Dimensionless parameters | 第21-22页 |
| ·Fluid dynamics and torque | 第22-28页 |
| ·Calculation of their effect on the hull | 第22-23页 |
| ·Calculation of viscous effects on the hull and torque | 第23-28页 |
| ·Computation model of the propeller and the main engine characteristics | 第28-32页 |
| ·Propeller thrust and torque | 第28-29页 |
| ·Wake and thrust deduction near the propeller coefficients | 第29-30页 |
| ·Computation of the thrust and torque coefficient | 第30-32页 |
| ·Computational model of the main engine characteristics | 第32页 |
| ·Computation and characteristics of the rudder | 第32-38页 |
| ·Determination of the Positive pressure | 第33-34页 |
| ·Effective inflow velocity and attack angle calculations | 第34-37页 |
| ·Factor a_H,x_H,x_R,t_R calculation | 第37-38页 |
| ·Affect of shallow water | 第38-41页 |
| ·Amendment of the additional mass and added moment of inertia | 第38页 |
| ·Amendment of the fluid dynamics of the Kiji model | 第38-40页 |
| ·Amendment of the fluid dynamics derivatives in Kijima model | 第40页 |
| ·Amendment of the propeller thrust and the torque | 第40-41页 |
| Chapter 3 Motion of large vessel under assistance of tug | 第41-60页 |
| ·Types and Characteristics of Tug | 第41-43页 |
| ·Types of port tug | 第41-42页 |
| ·Characteristics of port's tug | 第42-43页 |
| ·Role and method of assistance of port tug | 第43-45页 |
| ·Determination of power and number of tugs | 第45-49页 |
| ·Required pulling force determination | 第46-48页 |
| ·Total pulling force required | 第48-49页 |
| ·Computation of the tug force | 第49-54页 |
| ·Maneuvering motion equations and its coordinate system | 第49-51页 |
| ·Modeling of the tug hydrodynamics | 第51-52页 |
| ·Modeling of the tug's propeller thrust | 第52页 |
| ·Modeling of the tug force and torque | 第52-53页 |
| ·Modeling of the main engine's controller | 第53-54页 |
| ·Calculation of the tug forces | 第54页 |
| ·Force from the tug and the corresponding effect | 第54-60页 |
| ·Tug effect on the ship still in the water | 第55-57页 |
| ·Tug effect when ship moving ahead | 第57-60页 |
| Chapter 4 Comparison between simulation results and experience | 第60-81页 |
| ·Definition of the algorithm of the motion equation | 第60-62页 |
| ·Definition of the simulation platform | 第62页 |
| ·Autonomous Port of Nouakchott (Nouakchott port) | 第62-65页 |
| ·Generalities | 第62-63页 |
| ·Presentation of port "friendship" Quay | 第63-65页 |
| ·Simulations of ships maneuvering technology by tugs, in the port of Nouakchott | 第65-81页 |
| ·Berthing in Berth Ⅰ Container ship | 第65-69页 |
| ·Berthing in Berth Ⅱ | 第69-73页 |
| ·Berthing in Berth Ⅲ Huge container ship | 第73-77页 |
| ·Berthing in Berth Ⅲ bulker ship | 第77-81页 |
| Chapter 5 Conclusion | 第81-83页 |
| References | 第83-86页 |
| Thanks | 第86-87页 |
